Title:
TRAJECTORY PLANNING METHOD AND APPARATUS, TRAJECTORY PLANNER, UNMANNED AERIAL VEHICLE, AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2022/127737
Kind Code:
A1
Abstract:
A trajectory planning method, a trajectory planning apparatus (500), a trajectory planner (50), an unmanned aerial vehicle (600), and a storage medium. The trajectory planning method comprises: determining global trajectory points of a job route (S110); using a starting point of the global trajectory points as a starting point of a first preset length (S120); screening the global trajectory points for trajectory points covered by the first preset length, determining local trajectory points based on the screened trajectory points, and generating a local trajectory based on the local trajectory points (S130); controlling the unmanned aerial vehicle to move by a second preset length based on the local trajectory (S140); determining whether all the global trajectory points have been screened (S150); if yes, controlling the unmanned aerial vehicle to continue moving along the local trajectory to the last trajectory point (S160); if not, using the next trajectory point of the current position of the unmanned aerial vehicle as a starting point of the first preset length (S170), and returning to the operation of screening the global trajectory points for the trajectory point covered by the first preset length until all global trajectory point are screened, wherein the first preset length is greater than the second preset length. Therefore, the unmanned aerial vehicle can accurately avoid obstacles encountered. The safety of the unmanned aerial vehicle is ensured, and the operation efficiency is improved.
Inventors:
CHEN ZENGHONG (CN)
Application Number:
PCT/CN2021/137486
Publication Date:
June 23, 2022
Filing Date:
December 13, 2021
Export Citation:
Assignee:
GUANGZHOU XAIRCRAFT TECH CO LTD (CN)
International Classes:
G05D1/10; G05D1/02
Foreign References:
| CN112379697A | 2021-02-19 | |||
| CN110673634A | 2020-01-10 | |||
| CN112025715A | 2020-12-04 | |||
| CN103197675A | 2013-07-10 | |||
| CN107883962A | 2018-04-06 | |||
| CN110687923A | 2020-01-14 | |||
| CN111752295A | 2020-10-09 | |||
| CN111665738A | 2020-09-15 | |||
| JP2019021197A | 2019-02-07 |
Attorney, Agent or Firm:
BEIJING BRIGHT IP AGENCY CO., LTD. (CN)
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